Buoyancy adjusting device and swimming pool robot

Abstract

The invention discloses a buoyancy adjusting device and a swimming pool robot. The buoyancy adjusting device comprises a shell, a driving mechanism and a deformation part, and a containing cavity is formed in the shell; the driving mechanism comprises a first plate body connected to the inner wall of the shell in a sliding mode and a driving assembly used for sliding the first plate body, the first plate body comprises a sliding connection part abutting against the inner wall of the shell, and the first plate body isolates the containing cavity in a sealed mode to form a first cavity and a second cavity; the deformation piece hermetically isolates the first cavity to form a first space and a second space, the first space is communicated with the external environment, and the deformation piece isolates the sliding connection part and the first space; wherein the sliding of the first plate body is used for adjusting the volumes of the first chamber and the second chamber so as to change the amount of fluid entering the first space through the external environment.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of robotics, and particularly relates to a buoyancy adjustment device and a pool robot. Background Art

[0002] Pool robots can be used for cleaning, maintenance, inspection, environmental monitoring, etc. of pools such as home pools, swimming pools, and water parks.

[0003] In related technologies, a pool robot includes a buoyancy adjustment device. The buoyancy adjustment device changes the buoyancy received by the pool robot by sucking in or discharging water in the pool, so that the pool robot sinks or floats in the pool. In related technologies, the pool robot includes a piston assembly. The piston assembly includes a piston cylinder and a piston. The outer peripheral side of the piston is slidably connected inside the piston cylinder. The opening of the piston cylinder communicates with the outside. Water is sucked in or discharged from the opening of the piston cylinder through the movement of the piston. Since the piston is directly in contact with the water, it is easily corroded by the water, affecting the service life. Moreover, sundries such as dead leaves in the water easily get stuck in the piston, affecting the movement of the piston relative to the piston cylinder and the sinking or floating of the pool robot. Summary of the Invention

[0004] To solve the above technical problems, this application provides a buoyancy adjustment device and a pool robot, which have the advantages of being less affected by the external fluid, having a long service life, and having a high switching efficiency of sinking or floating. This application is achieved through the following technical solutions:

[0005] In a first aspect, an embodiment of this application provides a buoyancy adjustment device applied to a pool robot. The buoyancy adjustment device includes a housing, a driving mechanism, and a deformable member. The housing forms a receiving cavity; the driving mechanism includes a first plate slidably connected to the inner wall of the housing and a driving component for sliding the first plate. The first plate includes a sliding connection portion abutting against the inner wall of the housing. The first plate seals off the receiving cavity to form a first chamber and a second chamber; the deformable member seals off the first chamber to form a first space and a second space. The first space communicates with the external environment. The deformable member isolates the sliding connection portion and the first space; wherein, sliding the first plate is used to adjust the volumes of the first chamber and the second chamber to change the amount of fluid entering the first space through the external environment.

[0006] In the technical solution provided by the present application, the buoyancy adjustment device includes a housing and a driving mechanism. The housing forms a receiving cavity. The first plate body of the driving mechanism is located in the receiving cavity and hermetically isolates the receiving cavity into a first chamber and a second chamber. The sliding connection part of the first plate body is slidably connected to the inner wall of the housing. The driving component of the driving mechanism is used to drive the first plate body to slide relative to the housing. As the first plate body slides relative to the housing, the volumes of the first chamber and the second chamber change accordingly, that is, the volume of the first chamber increases and the volume of the second chamber decreases; or, the volume of the first chamber decreases and the volume of the second chamber increases. On this basis, the buoyancy adjustment device further includes a deformation member. The deformation member hermetically isolates the first chamber into a first space and a second space. The first space communicates with the external environment. Since the first space is part of the first chamber, when the driving component drives the first plate body to move and changes the volume of the first chamber, the volume of the first space changes accordingly, and the fluid from the outside is sucked into or discharged from the opening of the first space, that is, the actual displacement of the buoyancy adjustment device is changed, thereby changing the buoyancy received by the entire buoyancy adjustment device. And the deformation member isolates the sliding connection part and the first space. In other words, the sliding connection part does not contact the fluid in the first space. Due to the isolation of the deformation member, the sliding connection part is difficult to be corroded by the fluid in the first space, thereby improving the service life of the sliding connection part; and impurities such as withered leaves carried by the fluid in the first space are also blocked by the deformation member and are difficult to enter the connection position between the sliding connection part and the inner wall of the housing, which is difficult to cause an adverse impact on the sliding of the sliding connection part. In other words, the sliding of the sliding connection part and the inner wall of the housing is less affected by the outside, and the relative movement is smoother, which is convenient for improving the switching efficiency between the floating and sinking states of the buoyancy adjustment device. Compared with the solution of using a piston assembly to achieve floating and sinking in the related art, the buoyancy adjustment device in the embodiment of the present application is provided with a deformation member. The first space isolated by the deformation member is used to accommodate the external fluid. The sliding connection part of the first plate body is isolated from the fluid in the first space by the deformation member, and the influence of the external fluid on the sliding connection part is small, which can not only improve the service life of the sliding connection part, but also improve the state switching efficiency of the buoyancy adjustment device.

[0007] In some implementation manners of the present application, the deformation member has a first end fixed to the housing.

[0008] In the technical solution provided by the present application, the first end of the deformation member is fixed to the housing. The connection between the deformation member and the housing is relatively stable, and the end of the deformation member is connected to the housing, so the deformation member is less restricted and is more conducive to the deformation of the deformation member.

[0009] In some implementation manners of the present application, the deformation member has a second end fixed to the first plate body.

[0010] In the technical solution provided by this application, the deformable member is fixed to the first plate body, and there is a relatively stable connection relationship between the two. The deformation of the deformable member can be directly driven by the sliding of the first plate body relative to the housing. In other words, the first plate body provides direct drive for the deformation of the deformable member and also provides a limit for the deformation direction of the deformable member, enabling the deformable member to deform in a set direction, which is convenient for fluid to enter or exit the first space.

[0011] In some implementation manners of this application, the buoyancy adjustment device further includes a structural member, the structural member is detachably connected to the housing, and the first end is clamped between the structural member and the housing.

[0012] In the technical solution provided by this application, by providing a structural member, the first end of the deformable member is clamped between the structural member and the housing, and there is a stable connection between the deformable member and the housing, so that the deformable member can withstand a large force and generate a large degree of deformation, thereby increasing the effective volume of the first space. Moreover, the structural member is detachably connected to the housing, which is convenient for disassembling, assembling and maintaining the structural member and the deformable member.

[0013] In some implementation manners of this application, the structural member includes a connecting portion and an extending portion. The connecting portion is connected to the housing, and the connecting portion is sleeved on the outer edge of the opening of the housing. The extending portion extends from the connecting portion towards the center of the opening of the housing; in the projection along the axis direction of the housing, the extending portion at least covers the connecting portion between the deformable member and the housing.

[0014] In the technical solution provided by this application, the structural member is provided with a connecting portion and an extending portion. The connecting portion is sleeved on the outer edge of the opening of the housing, so that in the direction perpendicular to the radial direction of the housing, the connecting portion and the housing have good position limitation and their positions are relatively fixed; the extending portion extends from the connecting portion towards the center of the opening of the housing and covers the connecting portion between the deformable member and the housing. On the one hand, it is convenient to press the deformable member against the opening of the housing; on the other hand, the extending portion and the housing jointly provide position limitation for the deformable member, and the deformable member is not easily disengaged, and the connection is more stable.

[0015] In some implementation manners of this application, the first end is provided with a flanging structure. The flanging structure includes a first section and a second section connected to each other. The first section is located between the housing and the connecting portion, and the second section is located between the housing and the extending portion, and the extending portion, the second section and the outer edge of the opening of the housing are sequentially abutted along the axis direction of the housing.

[0016] The technical solution provided by the present application is to provide a flanging structure at the first end of the deformable member. The first section included in the flanging structure is located between the housing and the connecting portion. In other words, the first section is located between the outer peripheral side of the housing and the inner peripheral side of the structural member. The housing and the connecting portion can provide good radial limit for the deformable member. The second section of the flanging structure abuts against the extension portion and the housing along the axial direction of the housing. The housing and the extension portion can provide good axial limit for the deformable member. The limits in multiple different directions further improve the connection stability between the deformable member and the housing, so that the deformable member can generate deformation. Moreover, the structures of the first section and the second section are relatively complex, and it is difficult for external fluid to enter the second space through the gap at the connection position of the deformable member, thereby improving the sealing effect.

[0017] In some implementation manners of the present application, the flanging structure further includes a sealing convex ring. The sealing convex ring is disposed on the outer periphery and / or the inner periphery of the first section. The sealing convex ring located on the outer periphery of the first section abuts against the inner wall of the connecting portion, and the sealing convex ring located on the inner periphery of the first section abuts against the outer wall of the housing.

[0018] In the technical solution provided by the present application, the flanging structure is formed with a sealing convex ring. The sealing convex ring is disposed on the outer periphery of the first section and abuts against the inner wall of the connecting portion, which can seal the gap between the first section and the connecting portion. And / or, the sealing convex ring is disposed on the inner periphery of the first section and abuts against the outer wall of the housing, which can seal the gap between the first section and the housing, thereby providing a good sealing effect and reducing the possibility of fluid in the first space or external fluid entering the second space.

[0019] In some implementation manners of the present application, the driving assembly includes a motor, a transmission assembly, and a guiding assembly. The motor is fixed in the accommodating cavity. The transmission assembly is connected between the output end of the motor and the first plate body and is used to drive the first plate body to move along the axial direction of the housing. The guiding assembly extends along the axial direction of the housing and is slidably connected to the housing. The guiding assembly is connected to the first plate body.

[0020] The technical solution provided by the present application has the advantages that the motor of the driving assembly has a fast response speed and high control precision, which is convenient for realizing precise control of the sinking and floating processes. The transmission assembly is connected between the output shaft of the motor and the first plate body to transmit the connection between the motor and the first plate body. The transmission assembly can change the acting direction and acting form of the output power of the motor to meet different transmission requirements, and also reduces the requirements for the installation position of the motor. The guiding assembly is slidably connected to the housing and is connected to the first plate body, and can provide guidance for the sliding of the first plate body relative to the housing through the sliding of the guiding assembly relative to the housing, thereby improving the precision and stability of the sliding of the first plate body relative to the housing.

[0021] In some implementation manners of the present application, the driving component includes a winch and a rope. Two ends of the rope are respectively connected to the first plate body and the winch, and the winch is located on a side of the first plate body away from the deformation member; the winch is configured to wind the rope by rotation, so as to drive the first plate body to move towards the winch through the rope and compress the fluid in the second chamber; or, the winch releases the rope by rotation, and the first plate body moves away from the winch under the action of the fluid pressure in the second chamber.

[0022] The technical solution provided by the present application drives the first plate body to move through the winch and the rope. When the winch winds the rope, it drives the first plate body to move towards the winch. When the winch releases the rope, the first plate body moves away from the winch under the action of the fluid pressure in the second chamber. The driving of the winch and the rope is suitable for long-stroke driving, and the rope is a flexible member, which can effectively avoid rigid impact.

[0023] In some implementation manners of the present application, the buoyancy adjustment device further includes an elastic member, and the elastic member is arranged between the first plate body and the housing; the elastic member can make the first plate body have a tendency to move away from the winch.

[0024] The technical solution provided by the present application, the elastic member arranged between the first plate body and the housing can drive the first plate body to move away from the winch through the elastic member. The elastic member can act together with the fluid in the second chamber, which helps the first plate body to quickly move to a position away from the winch.

[0025] In some implementation manners of the present application, the elastic member is arranged on a side of the first plate body facing the winch, and two ends of the elastic member are respectively connected to the first plate body and the first wall of the second chamber, and the first wall is opposite to the first plate body; the elastic member has a contact surface contacting the first plate body and the first wall, and the contact surface is arranged around the central axis of the first plate body.

[0026] The technical solution provided by the present application, since two ends of the elastic member are respectively connected to the first plate body and the first wall of the second chamber, the layout direction of the elastic member corresponds to its deformation direction, which can reduce the possibility of skewing due to force. The contact surface of the elastic member surrounds the central axis of the first plate body, so that the elastic member can uniformly apply force to the first plate body along a direction parallel to the central axis, facilitating the smooth sliding of the first plate body and reducing the possibility of skewing and jamming of the first plate body.

[0027] In some implementation manners of the present application, the housing includes a first cylinder body and a second cylinder body that are connected and communicated. The first cylinder body is configured with an open end for installing the deformation member; a support structure is arranged on a side of the first cylinder body opposite to the open end and / or on the inner wall of the second cylinder body. At least part of the driving component is fixedly connected to the support structure, and the driving component is located in the second cylinder body.

[0028] For the technical solution provided by this application, the housing is provided with a first cylinder and a second cylinder. A deformation member is installed at the open end of the first cylinder. A support structure is provided on one side of the first cylinder opposite to the open end and / or on the inner wall of the second cylinder. At least part of the driving assembly is fixedly connected to the support structure, and the connection is relatively stable. The driving assembly is located inside the second cylinder. The deformation member and the driving assembly are located at opposite ends of the first cylinder and are respectively located in the first cylinder and the second cylinder. The distance between the two is relatively far and they are in different spaces, which helps to reduce the interference between the two and is also convenient for providing a relatively wide deformation space for the deformation member, facilitating the generation of deformation of the deformation member.

[0029] In some implementation manners of this application, the first cylinder and the second cylinder are detachably connected. The buoyancy adjustment device further includes a first seal. The first seal is provided on the outer periphery of the first cylinder and is in sealed contact with the inner wall of the second cylinder.

[0030] For the technical solution provided by this application, the detachable connection between the first cylinder and the second cylinder facilitates the disassembly, installation and maintenance of the housing and various components inside the housing, improving the maintenance convenience of the buoyancy adjustment device. The first seal is arranged between the first cylinder and the second cylinder to seal the connection between the first cylinder and the second cylinder, reducing the possibility of external fluid entering the second chamber, so as to provide a good and stable working environment for the motor and the first plate. And the first seal is in a sleeved relationship with respect to the first cylinder and the second cylinder, increasing the structural complexity of the gap at the connection between the first cylinder and the second cylinder, and also helping to isolate external fluid.

[0031] In some implementation manners of this application, the second chamber is configured as a closed chamber, or the second chamber is connected to at least one third chamber, and the second chamber and at least one third chamber together are configured as a closed chamber.

[0032] For the technical solution provided by this application, the second chamber being a closed chamber reduces the possibility of external fluid entering from other positions of the second chamber, facilitating the provision of a good and stable working environment for the motor and the first plate inside the second chamber. The second chamber can also be connected to the third chamber, and the two together are configured as a closed chamber. This not only facilitates the sealing of the space where the motor and the first plate are located, but also enables the internal fluid exchange between the second chamber and the third chamber, facilitating the change in the volume of the second chamber caused by the sliding of the first plate relative to the housing.

[0033] In a second aspect, an embodiment of this application provides a pool robot, including a fuselage and the buoyancy adjustment device according to any one of the first aspect. The fuselage is provided with a cleaning device, and the buoyancy adjustment device is connected to the fuselage to enable the pool robot to float or sink in water.

[0034] In the technical solution provided by this application, the pool robot includes a buoyancy adjustment device. The buoyancy adjustment device is provided with a deformable member. The first space isolated by the deformable member is used to accommodate an external fluid. The sliding connection portion of the first plate body is isolated from the fluid in the first space by the deformable member. The influence of the external fluid on the sliding connection portion is small, which can not only improve the service life of the sliding connection portion, but also improve the state switching efficiency of the buoyancy adjustment device. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic structural diagram (front view) of the buoyancy adjustment device provided by an embodiment of this application;

[0036] Figure 2 is a schematic structural diagram (axonometric view) of the buoyancy adjustment device provided by an embodiment of this application;

[0037] Figure 3 is a schematic structural diagram of the buoyancy adjustment device in the floating state provided by an embodiment of this application;

[0038] Figure 4 is a schematic structural diagram of the buoyancy adjustment device in the sinking state provided by an embodiment of this application;

[0039] Figure 5 is a schematic structural diagram (left view) of the buoyancy adjustment device provided by an embodiment of this application;

[0040] Figure 6 provided by an embodiment of this application Figure 5 sectional structure diagram along A-A;

[0041] Figure 7 provided by an embodiment of this application Figure 6 partial enlarged structure diagram at C;

[0042] Figure 8 provided by an embodiment of this application Figure 5 sectional structure diagram along B-B;

[0043] Figure 9 is a schematic structural diagram of the driving mechanism connected to the support structure in the buoyancy adjustment device provided by an embodiment of this application;

[0044] Figure 10 is a partial schematic structural diagram of the driving mechanism in the buoyancy adjustment device provided by an embodiment of this application;

[0045] Figure 11 provided by an embodiment of this application Figure 6 partial enlarged structure diagram at D;

[0046] Figure 12 provided by an embodiment of this application Figure 6 partial enlarged structure diagram at E;

[0047] Figure 13 Schematic structural diagram of the retractor and the rope in the buoyancy adjustment device provided by the embodiment of the present application;

[0048] Figure 14 Schematic structural diagram of the elastic member in the buoyancy adjustment device provided by the embodiment of the present application;

[0049] Figure 15 Schematic structural diagram of the pool robot provided by the embodiment of the present application.

[0050] Reference numerals:

[0051] 100 - housing; 110 - accommodating cavity; 111 - first chamber; 1111 - first space; 1112 - second space; 112 - second chamber; 120 - first cylinder; 121 - open end; 122 - support structure; 1221 - support column; 1222 - guide post; 1223 - communication hole; 123 - second limiting groove; 124 - second connecting column; 130 - second cylinder; 131 - third connecting ear; 140 - second connecting hole; 200 - driving mechanism; 210 - first plate body; 211 - sliding connection part; 212 - plate body; 213 - strengthening structure; 214 - first limiting groove; 215 - first connecting column; 220 - driving component; 221 - motor; 222 - transmission component; 2221 - first gear; 2222 - second gear; 2223 - threaded rod; 223 - guiding component; 2231 - slide bar; 224 - retractor; 225 - rope; 226 - elastic member; 2261 - contact surface; 230 - second plate body; 240 - first connecting hole; 300 - deformation member; 310 - first end; 320 - second end; 330 - telescopic section; 340 - flanging structure; 341 - first section; 342 - second section; 343 - sealing convex ring; 400 - structural member; 410 - connecting part; 420 - extending part; 430 - first connecting ear; 440 - second connecting ear; 500 - first seal; 600 - second seal; 700 - fuselage; L - central axis. Detailed implementation manners

[0052] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will further describe the specific technical solutions of the present application in detail with reference to the accompanying drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not used to limit the scope of the present application.

[0053] In the embodiments of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0054] In addition, in the embodiments of the present application, orientation terms such as "upper", "lower", "left", and "right" are defined relative to the orientation in which the components in the drawings are schematically placed. It should be understood that these directional terms are relative concepts, which are used for relative description and clarification, and they may change accordingly with the change of the orientation in which the components in the drawings are placed.

[0055] In the embodiments of the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or integrated; it can be directly connected or indirectly connected through an intermediate medium.

[0056] In the embodiments of the present application, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including the element.

[0057] In the embodiments of the present application, words such as "exemplarily" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplarily" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific manner.

[0058] The embodiments of the present application provide a pool robot. The pool robot can be used for the cleaning and maintenance, inspection, environmental monitoring, etc. of pools such as home pools, swimming pools, and water parks. The pool robot with a cleaning function can effectively remove dust, dirt, algae, etc. at the bottom and side walls of the pool, as well as clean leaves, suspended debris, etc. in the water body. The energy supply of the pool robot can be cable-powered or battery-powered; the cleaning method of the pool robot can be adsorption, filtration, brushing, etc.; the moving method of the pool robot can be propeller, wheeled, tracked, etc.

[0059] In some technical solutions, the pool robot includes a buoyancy adjustment device. The buoyancy adjustment device changes the buoyancy received by the pool robot by inhaling or discharging water in the pool, so that the pool robot sinks or floats in the pool. In the related art, the pool robot includes a piston assembly. The piston assembly includes a piston cylinder and a piston. The outer peripheral side of the piston is slidably connected inside the piston cylinder. The opening of the piston cylinder communicates with the outside. Water is inhaled or discharged from the opening of the piston cylinder through the movement of the piston. Since the piston is directly in contact with the water, it is easily corroded by the water, affecting its service life. Moreover, sundries such as dead leaves in the water are likely to get stuck in the piston, affecting the movement of the piston relative to the piston cylinder and the sinking or floating of the pool robot.

[0060] Before further elaborating on the embodiments of the present application, the nouns and terms involved in the embodiments of the present application are explained. The nouns and terms involved in the embodiments of the present application are applicable to the following explanations.

[0061] 1) Sinking or floating: When a component is located in a fluid (such as the water in a pool), by increasing the density and reducing the buoyancy of the fluid received, moving towards the bottom of the fluid under the action of gravity is called sinking; by reducing the density and increasing the buoyancy of the fluid received, moving towards the surface of the fluid under the action of buoyancy is called floating.

[0062] 2) Central axis: It refers to the axis passing through the geometric center of the component. The central axis can be the axis of symmetry of the component or the extension axis of the component in a certain determined direction. For example, if the component is a cylindrical structure, the central axis is the connection line of the centers of its multiple cross-sections. This central axis is both the axis of symmetry of the cylindrical structure and the extension axis of the cylindrical structure along the axial direction.

[0063] 3) Axial / radial: Corresponding to columnar components such as cylinders, ellipsoidal cylinders, and prisms, the axial direction (axis direction) refers to the direction parallel to the central axis of the columnar component, and the radial direction refers to any direction perpendicular to the axial direction. Correspondingly, the axial section is the section parallel to the axial central axis of the component; the radial section is the section perpendicular to the axial direction of the component.

[0064] 4) Outer wall / inner wall: Corresponding to a component with a chamber, the wall surface located inside the component and used to form the chamber is the inner wall; the wall surface located outside the component and capable of contacting the external environment of the chamber is the outer wall.

[0065] 5) Inner circumference / outer circumference: Corresponding to a component with a chamber, the inner circumference refers to the inner wall that can surround the entire circumference, and the outer circumference refers to the outer wall that can surround the entire circumference.

[0066] 6) Extension direction: Corresponding to a columnar structure, the extension direction can be its axial or radial direction. If not specifically stated, it usually refers to the axial direction of the columnar structure. For example, the extension direction of a cylindrical structure is its axial direction.

[0067] 7) Extension direction: It refers to any direction parallel to the largest surface of the component. For example, for a square plate-shaped component, the extension direction can be any direction perpendicular to its thickness direction, such as the length direction, width direction, diagonal direction, etc.

[0068] 8) Deformable part: A deformable part is a structural part that can deform under the action of an external force. The deformable part itself may or may not have elasticity.

[0069] The embodiment of the present application also provides a buoyancy adjustment device, which is applied to a pool robot. Referring to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , the buoyancy adjustment device includes a housing 100, a driving mechanism 200 and a deformable part 300. The housing 100 forms a receiving cavity 110; the driving mechanism 200 includes a first plate body 210 slidably connected to the inner wall of the housing 100 and a driving assembly 220 for sliding the first plate body 210. The first plate body 210 includes a sliding connection portion 211 abutting against the inner wall of the housing 100. The first plate body 210 seals and isolates the receiving cavity 110 to form a first chamber 111 and a second chamber 112; the deformable part 300 seals and isolates the first chamber 111 to form a first space 1111 and a second space 1112. The first space 1111 communicates with the external environment, and the deformable part 300 isolates the sliding connection portion 211 and the first space 1111; wherein, sliding the first plate body 210 is used to adjust the volumes of the first chamber 111 and the second chamber 112 to change the amount of fluid entering the first space 1111 through the external environment.

[0070] In the embodiment of the present application, the housing 100 provides an installation basis for the driving mechanism 200 and the deformable part 300, and the outer contour of the housing 100 is not limited, and it can be a regular or irregular shape. The housing 100 can be an integral structure or a split structure. A receiving cavity 110 is formed inside the housing 100, and an opening communicating with the receiving cavity 110 is provided on the housing 100.

[0071] In some examples, the outer contour of the housing 100 is basically a cylindrical structure, and an opening is provided at one end along the axial direction of the housing 100, and the opening communicates with the receiving cavity 110. The housing 100 can be a variable-diameter structure, an equal-diameter structure or a stepped structure. The variable-diameter structure means that along the axial direction of the housing 100, the radial dimension of the housing 100 gradually changes; the equal-diameter structure means that along the axial direction of the housing 100, the radial dimension of the housing 100 is uniformly set; the stepped structure means that the housing 100 includes at least two structural segments, and the radial dimensions of each structural segment are uniformly set, and the radial dimensions of different structural segments are different.

[0072] In the embodiment of the present application, the accommodation cavity 110 is formed inside the housing 100. The contour of the accommodation cavity 110 may be the same as or different from the outer contour of the housing 100. In some examples, the contour of the accommodation cavity 110 is the same as the outer contour of the housing 100. The housing 100 is cylindrical, and the accommodation cavity 110 is also cylindrical.

[0073] In the embodiment of the present application, the outer peripheral contour of the first plate body 210 is adapted to the contour of the accommodation cavity 110. For example, when the accommodation cavity 110 is prismatic, the peripheral contour of the first plate body 210 is a polygon corresponding to the number of sides of the prism; or, when the accommodation cavity 110 is cylindrical, the peripheral contour of the first plate body 210 is circular. Among them, the extension direction of the first plate body 210 and the axial direction of the housing 100 may be perpendicular, or may be set at an acute angle or an obtuse angle. In some examples, the extension direction of the first plate body 210 is perpendicular to the axial direction of the housing 100, so that the first plate body 210 divides the first chamber 111 and the second chamber 112 into a more regular spatial structure.

[0074] In the embodiment of the present application, a sliding connection portion 211 slidably connected to the inner wall of the housing 100 is configured on the first plate body 210. The sliding connection portion 211 includes a sliding wall facing the inner wall of the housing 100, and / or a sliding seal structure provided on the sliding wall.

[0075] Specifically, the sliding wall may be the outer peripheral wall of the first plate body 210. The sliding connection portion 211 may include a flange structure provided at the outer edge of the first plate body 210. The wall surface of the flange structure facing the inner wall of the housing 100 forms a sliding wall, and the sliding wall is in contact with the inner wall of the housing 100; alternatively, the sliding connection portion 211 may include a groove structure, and a sliding seal structure is filled in the groove structure, and the sliding seal structure is in contact with the inner wall of the housing 100.

[0076] In the embodiment of the present application, the driving assembly 220 may include driving members such as a motor and a rotary cylinder that output rotational motion of the output shaft, or may include driving members such as a hydraulic cylinder, a cylinder, and an electric telescopic rod that output linear motion of the output shaft. Among them, the motor may be a servo motor, a stepping motor, etc. Refer to Figure 6 , in some examples, the driving assembly 220 includes a motor 221. The output shaft of the motor 221 is drivingly connected to the first plate body 210 for driving the first plate body 210 to slide relative to the housing 100 along the axial direction of the housing 100.

[0077] In the embodiments of the present application, the deformation member 300 hermetically isolates the first chamber 111, specifically, the deformation member 300 is hermetically connected to the housing 100, and the deformation member 300 divides the first chamber 111 into two parts, namely a first space 1111 and a second space 1112. Fluids in the first space 1111 and the second space 1112 cannot flow through the connection between the deformation member 300 and the housing 100. Among them, the connection between the deformation member 300 and the housing 100 can be connected to the outer wall of the housing 100 or the inner wall of the housing 100.

[0078] In some examples, the deformation member 300 is a sheet-like structure, and the extension plane of the deformation member 300 is arranged at an angle with the central axis L of the housing 100, and the angle between the two can be an acute angle, an obtuse angle or a right angle. Exemplarily, the sheet-like deformation member 300 extends perpendicular to the central axis L of the first chamber 111, and the periphery of the sheet-like deformation member 300 is connected to the inner wall of the housing 100.

[0079] In some other examples, the deformation member 300 forms an accommodation space, the radial dimension of the deformation member 300 can be set uniformly or gradually, and can also be set in a stepped or wavy shape. The end of the deformation member 300 provided with an opening is connected to the housing 100.

[0080] In the embodiments of the present application, the first space 1111 is communicated with the external environment, and the fluid (external fluid) in the external environment can enter the first space 1111. Due to the setting of the deformation member 300, the external fluid cannot enter the second space 1112, and the sliding connection portion 211 is not in contact with the external fluid and is difficult to be disturbed by the external fluid. In addition, due to the setting of the first plate body 210, the second space 1112 is relatively isolated from the second chamber 112, and the fluid between the two is isolated.

[0081] In some examples, the fluids in the second space 1112 and the second chamber 112 are both gases, and the fluid in the external environment is a liquid (such as water in a swimming pool). Please refer to Figure 3 , the driving assembly 220 drives the first plate body 210 to move and approach the opening of the accommodation cavity 110. The volume of the second chamber 112 increases, the volume of the first chamber 111 decreases, the fluid in the second space 1112 is compressed and generates a positive pressure, which squeezes the deformation member 300 in a direction away from the first plate body 210. The deformation member 300 deforms toward the opening of the accommodation cavity 110, compressing the volume of the first space 1111, and the external fluid in the first space 1111 is discharged from the buoyancy adjustment device. The overall drainage volume of the buoyancy adjustment device increases, and the buoyancy received increases, so as to realize the floating operation. Of course, in some embodiments, no positive pressure may be generated in the second space 1112, and the deformation member 300 may be directly deformed by the first plate body 210. On the contrary, please refer to Figure 4, the driving component 220 drives the first plate body 210 to move away from the opening of the accommodation cavity 110. The volume of the second chamber 112 decreases, the volume of the first chamber 111 increases, and the volume of the second space 1112 changes accordingly. Under the positive pressure of the external fluid in the first space 1111, the deformable member 300 deforms towards the first plate body 210, and the volume of the first space 1111 increases accordingly. More external fluid enters the first space 1111, the overall drainage volume of the buoyancy adjustment device decreases, and the buoyancy received decreases, so as to realize the sinking operation.

[0082] In the technical solution of the embodiment of the present application, the buoyancy adjustment device includes a housing 100 and a driving mechanism 200. The housing 100 forms an accommodation cavity 110. The first plate body 210 of the driving mechanism 200 is located in the accommodation cavity 110 and seals and isolates the accommodation cavity 110 into a first chamber 111 and a second chamber 112. The sliding connection portion 211 of the first plate body 210 is slidably connected to the inner wall of the housing 100. The driving component 220 of the driving mechanism 200 is used to drive the first plate body 210 to slide relative to the housing 100. As the first plate body 210 slides relative to the housing 100, the volumes of the first chamber 111 and the second chamber 112 change accordingly, that is, the volume of the first chamber 111 increases and the volume of the second chamber 112 decreases; or, the volume of the first chamber 111 decreases and the volume of the second chamber 112 increases.

[0083] On this basis, the buoyancy adjustment device further includes a deformable member 300. The deformable member 300 seals and isolates the first chamber 111 into a first space 1111 and a second space 1112. The first space 1111 communicates with the external environment. Since the first space 1111 is part of the first chamber 111, when the driving component 220 drives the first plate body 210 to move and changes the volume of the first chamber 111, the volume of the first space 1111 changes accordingly, and the external fluid is sucked in or discharged from the opening of the first space 1111, that is, the actual drainage volume in the first space 1111 is changed, thereby changing the buoyancy received by the entire buoyancy adjustment device.

[0084] Moreover, the deformable member 300 isolates the sliding connection portion 211 and the first space 1111. In other words, the sliding connection portion 211 does not contact the fluid in the first space 1111. Due to the isolation of the deformable member 300, the sliding connection portion 211 is difficult to be corroded by the fluid in the first space 1111, thereby extending the service life of the sliding connection portion 211; and impurities such as dead leaves carried by the fluid in the first space 1111 are also blocked by the deformable member 300 and are difficult to enter the connection position between the sliding connection portion 211 and the inner wall of the housing 100, which is difficult to have an adverse effect on the sliding of the sliding connection portion 211. In other words, the sliding of the sliding connection portion 211 and the inner wall of the housing 100 is less affected by the outside world, and the relative movement is smoother, which is convenient for improving the switching efficiency of the buoyancy adjustment device between the floating and sinking states.

[0085] Compared with the solution of using a piston assembly to achieve floating and sinking in the related art, the buoyancy adjustment device of the embodiments of the present application is provided with a deformable member 300. The first space 1111 isolated by the deformable member 300 is used to accommodate an external fluid. The sliding connection portion 211 of the first plate body 210 is isolated from the fluid in the first space 1111 through the deformable member 300. The influence of the external fluid on the sliding connection portion 211 is small, which can not only improve the service life of the sliding connection portion 211, but also improve the state switching efficiency of the buoyancy adjustment device.

[0086] Refer to Figure 5 and Figure 6 In some embodiments of the present application, the deformable member 300 has a first end 310 fixed to the housing 100.

[0087] In the embodiments of the present application, the deformable member 300 may have an accommodation space. Along the central axis L of the deformable member 300, the deformable member 300 has a first end 310 away from the first plate body 210, and the first end 310 is fixed to the housing 100. It can be understood that the first end 310 is provided with an opening corresponding to the accommodation space so that the external fluid can enter the accommodation space. Since the deformable member 300 is disposed in the first chamber 111, the accommodation space of the deformable member 300 is a part of the first chamber 111.

[0088] In the embodiments of the present application, the first end 310 of the deformable member 300 may be connected to the inner wall of the housing 100, that is, the deformable member 300 is completely accommodated in the first chamber 111. The first space 1111 includes both the accommodation space of the deformable member 300 and the part between the opening of the deformable member 300 and the opening of the housing 100. Alternatively, the first end 310 of the deformable member 300 is connected to the outer wall of the housing 100, that is, the part of the deformable member 300 provided with the opening extends to the outside of the housing 100 and is connected to the corresponding wall surface of the housing 100. The accommodation space of the deformable member 300 and the first space 1111 are the same space.

[0089] In the embodiments of the present application, the fixation of the first end 310 to the housing 100 can be achieved by means of clamping, bonding, welding, riveting, interference fit, fastener connection, etc. In some examples, the first end 310 is fixed to the housing 100 by means of clamping.

[0090] In the embodiments of the present application, the deformable member 300 and the first plate body 210 may or may not be connected. In the case where the first plate body 210 is connected to the deformable member 300, the first plate body 210 can directly apply a force to the deformable member 300 so that the deformable member 300 deforms; in the case where the first plate body 210 is not connected to the deformable member 300, the deformable member 300 can be deformed by the positive pressure or negative pressure in the second space 1112 and the pressure of the external fluid.

[0091] In the technical solution of the embodiment of the present application, the first end 310 of the deformable member 300 is fixed to the housing 100. The connection between the deformable member 300 and the housing 100 is relatively stable, and the end of the deformable member 300 is connected to the housing 100, so that the deformable member 300 is less restricted and more conducive to deformation of the deformable member 300.

[0092] Refer to Figure 5 and Figure 6 , in some embodiments of the present application, the deformable member 300 has a second end 320 fixed to the first plate body 210.

[0093] In the embodiment of the present application, the deformable member 300 may have an accommodation space. Along the central axis L of the deformable member 300, the deformable member 300 has a second end 320 close to the first plate body 210, and the second end 320 and the first end 310 may be opposite ends of the deformable member 300 along the axis.

[0094] In the embodiment of the present application, the fixation of the second end 320 to the first plate body 210 can be achieved by means such as snap connection, bonding, welding, riveting, interference fit, and fastener connection. In some examples, the second end 320 and the first plate body 210 are fixed by clamping.

[0095] In some examples, the driving mechanism 200 further includes a second plate body 230. The second plate body 230 is located in the first space 1111, that is, the first plate body 210 and the second plate body 230 are respectively located outside and inside the deformable member 300. The extension directions of the first plate body 210 and the second plate body 230 are parallel, and the first plate body 210 and the second plate body 230 clamp and fix the second end 320 of the deformable member 300.

[0096] In the embodiment of the present application, the first plate body 210 and the second plate body 230 can be fixedly contacted by means such as snap connection, bonding, welding, and fastener connection; the first plate body 210 and the second plate body 230 can also be fixed by non-contact means such as magnetic attraction.

[0097] In the embodiment of the present application, the second end 320 can be a closed setting or can be provided with a through structure. For example, the second end 320 is a closed structure with a whole surface setting and does not have a through hole, so that the fluid cannot pass through the second end 320 and enter the second space 1112, and the sealing performance is better; or, in the case where the second end 320 is provided with a through structure (such as a connecting through hole), a sealing structure is further provided between the second end 320 and the first plate body 210 to seal the through structure of the second end 320. Such a setting can facilitate the connection between the second end 320 and the first plate body 210.

[0098] In some examples, a through hole is provided at the second end 320 of the deformable member 300. Refer to Figure 5, the first plate body 210 and the second plate body 230 are provided with first connection holes 240 corresponding to the through holes of the deformation member 300. The first plate body 210 and the second plate body 230 are connected by fasteners such as screws, bolts, screws, nuts, etc. The fasteners sequentially pass through the first connection holes 240 of the first plate body 210, the through holes of the deformation member 300, and the first connection holes 240 of the second plate body 230 to lock and fix the first plate body 210 and the second plate body 230, so that the first plate body 210 and the second plate body 230 clamp and fix the second end 320 of the deformation member 300.

[0099] In the embodiment of the present application, one or more (including two) through holes may be provided at the second end 320 of the deformation member 300, and the multiple through holes may be arranged in a rectangular or circular array. In some examples, four through holes are provided at the second end 320, and the four through holes are distributed in a circular array, which can not only improve the connection firmness, but also balance the force.

[0100] In the technical solution of the embodiment of the present application, the first plate body 210 and the second plate body 230 clamp and fix the second end 320, which has a relatively high connection strength, and it is also convenient for the first plate body 210 to transmit the driving force to the deformation member 300. When the deformation member 300 deforms, it will be supported in two opposite directions, and the force is more balanced. Moreover, the fastener passes through the through hole of the second end 320, which can also limit the deformation member 300 and reduce the possibility of the deformation member 300 offsetting radially.

[0101] In the embodiment of the present application, the deformation of the deformation member 300 can be realized by an elastic material. For example, the deformation member 300 includes elastic materials such as rubber, silica gel, and polyurethane; alternatively, the deformation of the deformation member 300 can be realized by a structure, such as a corrugated pipe or a multi-layer sleeve with a deformation function. In addition, the deformation structure and the elastic material can be combined and arranged.

[0102] In some examples, the deformation member 300 includes a plurality of first annular walls and a plurality of second annular walls. The extension directions of the first annular walls and the second annular walls are both at an angle with the central axis L of the deformation member 300, and the orientations of the first annular walls and the second annular walls are different. Along the axial direction of the deformation member 300, the plurality of first annular walls and the plurality of second annular walls are alternately arranged, and the adjacent first annular walls and second annular walls are connected and arranged at an angle. The angle between the adjacent first annular wall and the second annular wall can be changed. When the angle between the adjacent first annular wall and the second annular wall increases, the projected dimensions of the first annular wall and the second annular wall increase along the radial projection of the deformation member 300, the dimension of the deformation member 300 along its axial direction increases, the deformation member 300 elongates and the volume of the first space 1111 increases.

[0103] Accordingly, the included angle between the adjacent first annular wall and the second annular wall decreases. Projecting along the radial direction of the deformable member 300, the projected sizes of the first annular wall and the second annular wall decrease, the dimension of the deformable member 300 along its axial direction decreases, the deformable member 300 shortens and the volume of the first space 1111 decreases. The deformable member 300 deforms by elongation or shortening. In some examples, the deformable member 300 can be a corrugated pipe.

[0104] In the technical solution of the embodiment of the present application, the deformable member 300 is fixed to the first plate body 210, and there is a relatively stable connection relationship between the two. The deformable member 300 can be directly driven to deform by the sliding of the first plate body 210 relative to the housing 100. In other words, the first plate body 210 provides a direct drive for the deformation of the deformable member 300 and also provides a limit for the deformation direction of the deformable member 300, so that the deformable member 300 deforms in a set direction, facilitating the fluid to enter or flow out of the first space 1111.

[0105] Refer to Figure 5 、 Figure 6 and Figure 7 In some embodiments of the present application, the buoyancy adjustment device further includes a structural member 400. The structural member 400 is detachably connected to the housing 100, and the first end 310 is clamped between the structural member 400 and the housing 100.

[0106] In the embodiment of the present application, the detachable connection between the structural member 400 and the housing 100 can be snap connection, threaded connection, adsorption connection, fastener connection, etc. In some embodiments, the structural member 400 is sleeved on the outer peripheral side of the housing 100, and the surfaces of the two in combination are both set as threaded surfaces. The first end 310 can be clamped between the threaded surfaces of the structural member 400 and the housing 100.

[0107] In some embodiments, the structural member 400 and the housing 100 are connected by fasteners such as screws, bolts, studs, nuts, etc. Exemplarily, the structural member 400 and the housing 100 are both provided with second connection holes 140. The bolt or screw passes through the second connection holes 140 of the structural member 400 and the housing 100 in sequence, and one of the second connection holes 140 is a threaded hole that can cooperate with the bolt or screw, so as to lock the structural member 400 and the housing 100; alternatively, the structural member 400 and the housing 100 are both provided with second connection holes 140. The bolt or stud passes through the second connection holes 140 of the structural member 400 and the housing 100 in sequence and cooperates with the nut, so as to lock the structural member 400 and the housing 100.

[0108] Refer to Figure 1 、 Figure 2 、 Figure 5 and Figure 6, in some embodiments of the present application, a first connecting ear 430 is provided on the outer peripheral side of the structural member 400, and a second connecting post 124 is provided on the housing 100 at a position corresponding to the first connecting ear 430. Second connecting holes 140 are provided on both the first connecting ear 430 and the second connecting post 124, and the second connecting holes 140 of the corresponding first connecting ear 430 and the second connecting post 124 are coaxially arranged. Fasteners such as bolts and studs pass through the first connecting ear 430 and the second connecting post 124 to fix the structural member 400 to the housing 100.

[0109] In some examples, the housing 100 includes a main body portion, and a second connecting post 124 coupled to the main body portion. The second connecting post 124 and the main body portion can be combined by means such as integral molding, bonding, welding, and snap connection. The second connecting post 124 can be coupled to one or more positions of the main body portion. In some examples, both ends of the second connecting post 124 are respectively coupled to the main body portion, and a cavity is formed between the middle portion of the second connecting post 124 and the main body portion, saving materials and reducing weight while meeting the connection requirements.

[0110] In some examples, a plurality of first connecting ears 430 are provided on the outer peripheral side of the structural member 400, and the plurality of first connecting ears 430 are evenly spaced along the circumferential direction of the structural member 400. The housing 100 is correspondingly provided with a plurality of second connecting posts 124, and the plurality of second connecting posts 124 and the plurality of first connecting ears 430 correspond one by one.

[0111] Refer to Figure 1 、 Figure 2 、 Figure 5 and Figure 6 , in some embodiments of the present application, a second connecting ear 440 is further provided on the outer peripheral side of the structural member 400. The second connecting ear 440 is used to connect an external fixing structure. For example, the connection between the buoyancy adjustment device and the fuselage 700 can be achieved by connecting the second connecting ear 440 to the fuselage 700.

[0112] In some examples, the second connecting ear 440 is provided with a connection hole, a snap - connection portion, a welding portion, an adhesive portion, etc. for connecting to a corresponding position of the fuselage 700. The second connecting ear 440 can also be provided as a plurality, and the plurality of second connecting ears 440 and the plurality of first connecting ears 430 are alternately distributed along the circumferential direction of the structural member 400 so that the force on the structural member 400 is more balanced.

[0113] In the technical solution of the embodiment of the present application, by providing the structural member 400, the first end 310 of the deformable member 300 is clamped by the structural member 400 to the housing 100, and there is a stable connection between the deformable member 300 and the housing 100, so that the deformable member 300 can withstand a large acting force and generate a large degree of deformation, thereby increasing the effective volume of the first space 1111, and the structural member 400 is detachably connected to the housing 100, facilitating the disassembly, assembly and maintenance of the structural member 400 and the deformable member 300.

[0114] Referring Figure 6 and Figure 7 , in some embodiments of the present application, the structural member 400 includes a connecting portion 410 and an extending portion 420. The connecting portion 410 is connected to the housing 100, and the connecting portion 410 is sleeved on the outer edge of the opening of the housing 100. The extending portion 420 extends from the connecting portion 410 towards the center of the opening of the housing 100; projected along the axial direction of the housing 100, the extending portion 420 at least covers the connecting portion between the deformable member 300 and the housing 100.

[0115] Wherein, the connecting portion between the deformable member 300 and the housing 100 refers to the structure where the connecting portion 410 and the housing 100 are connected, specifically including the portion where the connecting portion 410 is connected to the housing 100, the portion where the housing 100 is connected to the connecting portion 410, and the structure provided between the connecting portion 410 and the housing 100.

[0116] In some examples, the connecting portion 410 and the extending portion 420 can be connected by welding, snap connection, bonding, integral molding, etc. Exemplarily, the connecting portion 410 and the extending portion 420 are integrally formed, so that the structural member 400 has high structural strength.

[0117] In some examples, the connection between the connecting portion 410 and the housing 100 can be snap connection, threaded connection, adsorption connection, fastener connection, etc. Exemplarily, the first connecting ear 430 is provided on the outer peripheral side of the connecting portion 410, and the connecting portion 410 is connected to the housing 100 through the first connecting ear 430.

[0118] In some examples, the connecting portion 410 is a ring structure, and the inner contour of the connecting portion 410 is adapted to the outer contour of the housing 100. For example, the cross-sectional contours of both are circular. The connecting portion 410 is sleeved on the outer edge of the opening of the housing 100, that is, the connecting portion 410 is sleeved on the outer peripheral side of the housing 100, and the position of the connecting portion 410 is at the opening position of the housing 100, and the inner wall of the connecting portion 410 corresponds to the outer wall of the opening portion of the housing 100.

[0119] In some examples, the extension part 420 extends from the connecting part 410 towards the center of the opening of the housing 100. In other words, the extension part 420 extends from the opening edge of the housing 100 towards the center of the opening. It can be understood that the extension part 420 is a ring structure, and the hollow part of the extension part 420 serves as an opening for the buoyancy adjustment device to communicate with the external fluid.

[0120] In some examples, there is an included angle between the extending direction of the extension part 420 and the extending direction of the connecting part 410. Along the central axis L direction of the housing 100, the extension part 420 can extend towards the accommodation cavity 110 or away from the accommodation cavity 110. Exemplarily, the extending direction of the extension part 420 is perpendicular to the central axis L of the housing 100 and also perpendicular to the extending direction of the connecting part 410.

[0121] In some examples, the deformable part 300 can be clamped between the extension part 420 and the outer wall of the housing 100. When projected along the axis direction of the housing 100, the projection of the extension part 420 covers the clamped part of the deformable part 300; in other examples, the deformable part 300 is clamped between the connecting part 410 and the outer wall of the housing 100, and the deformable part 300 needs to pass through the gap between the extension part 420 and the housing 100. When projected along the axis direction of the housing 100, the projection of the extension part 420 covers the part of the deformable part 300 located between the extension part 420 and the housing 100.

[0122] In some examples, when projected along the axis direction of the housing 100, the projection of the connecting part of the deformable part 300 and the housing 100 overlaps with the projection of the extension part 420, and the inner wall projections of the extension part 420 and the housing 100 overlap; in other examples, when projected along the axis direction of the housing 100, the projection of the extension part 420 not only covers the connecting part of the deformable part 300 and the housing 100 but also exceeds the inner wall of the housing 100. For example, the first annular wall and the second annular wall of the deformable part 300 form a telescopic section 330, and the projection of the extension part 420 at least partially covers the projection of the telescopic section 330.

[0123] In the technical solution of the embodiment of the present application, the structural part 400 is provided with a connecting part 410 and an extension part 420. The connecting part 410 is sleeved on the outer edge of the opening of the housing 100, so that in the direction perpendicular to the radial direction of the housing 100, the connecting part 410 and the housing 100 have good position limitation and their positions are relatively fixed; the extension part 420 extends from the connecting part 410 towards the center of the opening of the housing 100 and covers the connecting part of the deformable part 300 and the housing 100. On the one hand, it is convenient to press the deformable part 300 against the opening of the housing 100; on the other hand, the extension part 420 and the housing 100 jointly provide position limitation for the deformable part 300, and the deformable part 300 is not easily disengaged, and the connection is more stable.

[0124] Refer to Figure 6and Figure 7 , in some embodiments of the present application, the first end 310 is provided with a flanging structure 340. The flanging structure 340 includes a first section 341 and a second section 342 that are connected to each other. The first section 341 is located between the housing 100 and the connecting portion 410, and the second section 342 is located between the housing 100 and the extension portion 420. Moreover, the extension portion 420, the second section 342, and the outer edge of the opening of the housing 100 are sequentially abutted along the axial direction of the housing 100.

[0125] In some examples, the first section 341 of the deformable member 300 is located between the housing 100 and the connecting portion 410. The first section 341 is clamped and fixed by the inner wall of the connecting portion 410 and the outer wall of the housing 100. That is, the first section 341 is an annular structure. The first section 341 is sleeved on the outer peripheral side of the housing 100 and is located on the inner peripheral side of the connecting portion 410.

[0126] In some examples, the surface of the first section 341 is smooth. In other examples, the surface of the first section 341 is provided with a concave structure or a convex structure. For example, the first section 341 is formed with a threaded structure to facilitate the threaded connection between the connecting portion 410 and the housing 100. In some examples, the first section 341 is a flexible structure. The shape of the first section 341 can adapt to the shapes of the connecting portion 410 and the housing 100. The first section 341 respectively fits the connecting portion 410 and the housing 100, and has a good sealing effect.

[0127] In some examples, the second section 342 is located between the housing 100 and the extension portion 420. The second section 342 is located between the first section 341 and the telescopic section 330. Along the central axis L direction of the housing 100, one side of the second section 342 abuts against the end face of the housing 100, and the other side of the second section 342 abuts against the extension portion 420. The extension portion 420 and the housing 100 clamp and fix the second section 342.

[0128] In some examples, the surface of the second section 342 is smooth, or the surface of the second section 342 is provided with a concave structure or a convex structure. In some examples, the second section 342 is a flexible structure. The shape of the second section 342 can adapt to the shapes of the extension portion 420 and the housing 100. The second section 342 respectively fits the extension portion 420 and the housing 100, and has a good sealing effect.

[0129] In the technical solution of the embodiment of the present application, by providing a flanging structure 340 at the first end 310 of the deformable member 300, the first section 341 included in the flanging structure 340 is located between the housing 100 and the connecting portion 410. In other words, the first section 341 is located between the outer peripheral side of the housing 100 and the inner peripheral side of the structural member 400. The housing 100 and the connecting portion 410 can provide good radial limitation for the deformable member 300. The second section 342 of the flanging structure 340 abuts between the extending portion 420 and the housing 100 along the axial direction of the housing 100. The housing 100 and the extending portion 420 can provide good axial limitation for the deformable member 300. Limitations in multiple different directions further improve the connection stability between the deformable member 300 and the housing 100, so that the deformable member 300 can generate deformation. Moreover, the structures of the first section 341 and the second section 342 are relatively complex, and it is also difficult for external fluid to enter the second space 1112 through the gap at the connection position of the deformable member 300, thereby improving the sealing effect.

[0130] Referring Figure 6 and Figure 7 In some embodiments of the present application, the flanging structure 340 further includes a sealing convex ring 343. The sealing convex ring 343 is provided on the outer periphery and / or inner periphery of the first section 341. The sealing convex ring 343 located on the outer periphery of the first section 341 abuts against the inner wall of the connecting portion 410, and the sealing convex ring 343 located on the inner periphery of the first section 341 abuts against the outer wall of the housing 100.

[0131] In some examples, the sealing convex ring 343 is an annular protrusion provided on the surface of the flanging structure 340. The sealing convex ring 343 can surround the housing 100 around the central axis L of the housing 100. The sealing convex ring 343 has the ability of elastic deformation and can seal the tiny gap between the first section 341 and the connecting portion 410 / housing 100 through elastic deformation, thereby improving the sealing effect.

[0132] In some examples, the radial direction of the sealing ring is perpendicular to the central axis L of the housing 100. For example, the sealing ring is a circular ring. In other examples, the radial direction of the sealing ring forms an acute or obtuse angle with the central axis L of the housing 100. For example, the sealing ring is an elliptical ring.

[0133] In some examples, the cross-sectional (the section passing through the axis of the sealing ring) profile of the sealing ring is an arc profile or a polygon profile. The arc profile can be a major arc, a minor arc, a semi-circular arc, etc. The polygon profile can be a triangle, a rectangle, a square, a trapezoid, etc.

[0134] In some examples, a sealing convex ring 343 is provided on the outer periphery of the first section 341, and the sealing convex ring 343 abuts against the inner wall of the connecting portion 410 for sealing between the connecting portion 410 and the first section 341; in other examples, a sealing convex ring 343 is provided on the inner periphery of the first section 341, and the sealing convex ring 343 abuts against the outer wall of the housing 100 for sealing between the housing 100 and the first section 341; in still other examples, sealing convex rings 343 are provided on both the outer periphery and the inner periphery of the first section 341. The sealing convex ring 343 on the outer periphery abuts against the inner wall of the connecting portion 410 for sealing between the connecting portion 410 and the first section 341, and the sealing convex ring 343 on the inner periphery abuts against the outer wall of the housing 100 for sealing between the housing 100 and the first section 341.

[0135] In the embodiments of the present application, one or more sealing convex rings 343 may be provided on the outer periphery of the first section 341, and one or more sealing convex rings 343 may also be provided on the inner periphery of the first section 341. The plurality of sealing convex rings 343 may have the same or different structures, and the number of the sealing convex rings 343 on the outer periphery of the first section 341 may be the same as or different from the number of the sealing convex rings 343 on the inner periphery of the first section 341.

[0136] In the embodiments of the present application, the sealing convex ring 343 on the outer periphery of the first section 341 and the sealing convex ring 343 on the inner periphery of the first section 341 may be arranged opposite to each other or may be offset. For example, along the central axis L direction of the deformable member 300, the sealing convex ring 343 on the outer periphery of the first section 341 and the sealing convex ring 343 on the inner periphery of the first section 341 are alternately arranged, which is convenient for the first section 341 to be deformed into a wavy structure and improves the sealing effect.

[0137] In some examples, the number of the sealing convex rings 343 on the inner periphery of the first section 341 is greater than the number of the sealing convex rings 343 on the outer periphery of the first section 341. Since the gap between the first section 341 and the housing 100 can communicate with the second space 1112, providing more sealing convex rings 343 on the inner periphery of the first section 341 helps to isolate the second space 1112 from the outside.

[0138] For example, two sealing convex rings 343 are provided on the inner periphery of the first section 341, and one sealing convex ring 343 is provided on the outer periphery of the first section 341. Along the central axis L direction of the housing 100, the sealing convex ring 343 on the outer periphery is arranged between the two sealing convex rings 343 on the inner periphery, and the cross-sectional profiles of the three sealing convex rings 343 are all arc-shaped.

[0139] In the technical solution of the embodiment of the present application, the flanging structure 340 is formed with a sealing convex ring 343. The sealing convex ring 343 is disposed on the outer periphery of the first section 341 and abuts against the inner wall of the connecting portion 410, so as to block the gap between the first section 341 and the connecting portion 410. And / or, the sealing convex ring 343 is disposed on the inner periphery of the first section 341 and abuts against the outer wall of the housing 100, so as to block the gap between the first section 341 and the housing 100, thereby providing a good sealing effect and reducing the possibility of fluid in the first space 1111 or external fluid entering the second space 1112.

[0140] Referring to Figure 6 、 Figure 8 、 Figure 9 and Figure 10 In some embodiments of the present application, the driving assembly 220 includes a motor 221, a transmission assembly 222, and a guiding assembly 223. The motor 221 is fixed to the accommodating cavity 110. The transmission assembly 222 is connected between the output end of the motor 221 and the first plate body 210, and is configured to drive the first plate body 210 to move along the axis direction of the housing 100. The guiding assembly 223 extends along the axis direction of the housing 100 and is slidably connected to the housing 100. The guiding assembly 223 is connected to the first plate body 210.

[0141] In some examples, the driving assembly 220 includes a motor 221. The motor 221 as a driving member may be a servo motor, a stepper motor, etc. The base of the motor 221 is fixed to the housing 100, and the output shaft of the motor 221 is connected to the first plate body 210 through the transmission assembly 222, so as to drive the first plate body 210 to slide relative to the housing 100 along the central axis L direction of the housing 100.

[0142] In some examples, a transmission assembly 222 is disposed between the motor 221 and the first plate body 210. The transmission assembly 222 may be a screw nut, a worm and worm gear, a gear rack, a link mechanism, etc. that can change the driving form; the transmission assembly 222 may also be a belt transmission assembly, a chain transmission assembly, a gear assembly, etc. that can change the reduction ratio. The transmission assembly 222 may also be a combination of one or more of a screw nut, a worm and worm gear, a gear rack, a link mechanism, a belt transmission assembly, a chain transmission assembly, and a gear assembly. In addition, the transmission assembly 222 may not be provided. For example, a cylinder, a hydraulic cylinder, an electric telescopic rod, etc. are used as driving members, and the first plate body 210 is directly driven to move relative to the housing 100 through the output shaft.

[0143] In some examples, the transmission assembly 222 includes a threaded rod 2223, a first gear 2221, and a second gear 2222. One end of the threaded rod 2223 is fixedly connected to the middle of the first plate body 210. The other end of the threaded rod 2223 is sleeved with the first gear 2221. The inner circumference of the first gear 2221 is threadedly connected to the outer circumference of the threaded rod 2223. The first gear 2221 and the threaded rod 2223 form a lead screw nut assembly. The second gear 2222 meshes with the first gear 2221 to form a gear assembly. The second gear 2222 is fixedly connected to the output shaft of the motor 221. The first gear 2221 is rotatably connected to the housing 100 through a bearing. The radius of the first gear 2221 is greater than the radius of the second gear 2222, which has the effect of reducing the rotational speed.

[0144] In some examples, when it is necessary to inhale external fluid to sink, the motor 221 drives the second gear 2222 to rotate in the first rotation direction. The second gear 2222 drives the first gear 2221 to rotate. Since the first gear 2221 is fixed relative to the housing 100 in the direction of the central axis L of the housing 100, the rotation of the first gear 2221 drives the threaded rod 2223 to move in the direction of the central axis L of the housing 100. The threaded rod 2223 drives the first plate body 210 to move away from the opening of the housing 100, thereby increasing the volume of the first chamber 111 to accommodate more external fluid. When it is necessary to discharge external fluid to float, the motor 221 drives the second gear 2222 to rotate in the second rotation direction. The second rotation direction is set opposite to the first rotation direction. The second gear 2222 drives the first gear 2221 to rotate. The rotation of the first gear 2221 drives the threaded rod 2223 to move in the direction of the central axis L of the housing 100. The threaded rod 2223 drives the first plate body 210 to move towards the opening of the housing 100, thereby reducing the volume of the first chamber 111 to discharge the external fluid in the first space 1111.

[0145] In some examples, a guiding assembly 223 is further provided between the first plate body 210 and the housing 100. The guiding assembly 223 includes one or a combination of a guide rail assembly, a guide rod assembly, and a sliding groove guide block. In some examples, the guiding assembly 223 includes a sliding groove opened on the inner wall of the housing 100, or the guiding assembly 223 includes a guide rail fixed to the inner wall of the housing 100. The extending direction of the sliding groove or the guide rail is parallel to the moving direction of the first plate body 210. A slider is slidably connected to the sliding groove or the guide rail. The slider slides along the extending direction of the sliding groove or the guide rail, and the slider is fixed to the first plate body 210.

[0146] In other examples, the guiding assembly 223 includes a sliding rod 2231 and a guiding hole opened on the housing 100. The sliding rod 2231 passes through the guiding hole, and the two can slide relative to each other in the moving direction of the first plate body 210. The sliding rod 2231 is fixed to the first plate body 210.

[0147] In some examples, one or more guide assemblies 223 are disposed between the first plate 210 and the housing 100, and the plurality of guide assemblies 223 may be symmetrically distributed around the central axis L of the housing 100. For example, the drive mechanism 200 includes two guide assemblies 223, and the two guide assemblies 223 each include a slide bar 2231, and the two slide bars 2231 are centrally symmetrically distributed about the central axis L of the housing 100.

[0148] In the technical solution of the embodiment of the present application, the motor 221 of the driving component 220 has the advantages of fast response speed and high control accuracy, which is convenient for realizing precise control of the sinking and floating process; the transmission component 222 is connected between the output shaft of the motor 221 and the first plate body 210 so as to transmit and connect the motor 221 and the first plate body 210. The transmission component 222 can change the direction and form of action of the output power of the motor 221 to meet different transmission requirements and reduce the requirements for the layout position of the motor 221; the guide component 223 is slidably connected to the shell 100 and connected to the first plate body 210. The guide component 223 can slide relative to the shell 100 to provide guidance for the sliding of the first plate body 210 relative to the shell 100, thereby improving the accuracy and stability of the sliding of the first plate body 210 relative to the shell 100.

[0149] Reference Figure 13 and Figure 14 In some embodiments of the present application, the drive assembly 220 includes a reel 224 and a rope 225, wherein two ends of the rope 225 are respectively connected to the first plate 210 and the reel 224, and the reel 224 is located on the side of the first plate 210 away from the deformable member 300; the reel 224 reels the rope 225 by rotating to drive the first plate 210 toward the reel 224 through the rope 225 and compress the fluid in the second chamber 112; or, the reel 224 releases the rope 225 by rotating, and the first plate 210 moves away from the reel 224 under the action of the fluid pressure in the second chamber 112.

[0150] In some examples, the reel 224 includes a shaft and a driving member, the shaft is rotatably arranged relative to the shell 100, the rope 225 is wound around the shaft, and the end of the rope 225 is fixed to the shaft, the driving member can drive the shaft to rotate, thereby reeling the rope 225 around the shaft to reduce the length of the rope 225 between the reel 224 and the first plate 210, or the shaft rotates in the opposite direction to release the rope 225 to increase the length of the rope 225 between the reel 224 and the first plate 210.

[0151] The driving member for driving the shaft may be a motor, which includes a stepping motor, a servo motor, etc. The driving member may also be other components capable of outputting power.

[0152] In some examples, the retractor 224 may further include structures such as a housing, a bracket, a lock, etc. The housing is used to accommodate the rope 225 to be retracted; the bracket is connected between the housing 100 and the shaft body to provide support for the shaft body; the lock can fix the rope 225 relative to the retractor 224 to pause the retracting or releasing action.

[0153] In the embodiments of the present application, the rope 225 refers to any member that is convenient to wind around the shaft body. The rope 225 can be a single-wire structure, a braided structure, a multi-strand winding structure, a chain structure, etc.; the rope 225 can include one or more of materials such as metal, fiber, plastic, etc.

[0154] In some examples, the rope 225 is connected to the middle of the first plate body 210 to apply a balanced force to the first plate body 210; in other examples, the rope 225 includes a plurality of connection ends, and the plurality of connection ends are connected to different positions of the first plate body 210, and the plurality of connection ends surround the central axis of the first plate body 210. In still other examples, a plurality of retractors 224 and ropes 225 are provided, and the plurality of retractors 224 and the plurality of ropes 225 correspond one by one. The plurality of ropes 225 are respectively connected to different positions of the first plate body 210, and the plurality of ropes 225 surround the central axis of the first plate body 210.

[0155] In the technical solution of the embodiments of the present application, the first plate body 210 is driven by the retractor 224 and the rope 225. When the retractor 224 retracts the rope 225, it drives the first plate body 210 to move towards the retractor 224. When the retractor 224 releases the rope 225, the first plate body 210 moves away from the retractor 224 under the action of the fluid pressure in the second chamber 112. The retractor 224 and the rope 225 are suitable for driving with a long stroke, and the rope 225 is a flexible member, which can effectively avoid rigid impact.

[0156] Refer to Figure 14 , in some embodiments of the present application, the buoyancy adjustment device further includes an elastic member 226, and the elastic member 226 is disposed between the first plate body 210 and the housing 100; the elastic member 226 can make the first plate body 210 have a tendency to move away from the retractor 224.

[0157] In the embodiments of the present application, the elastic member 226 refers to a member that can generate elastic deformation under the action of an external force and return to the shape before deformation after the external force is withdrawn. The elastic member 226 can be made of a metal material, rubber, plastic, synthetic material, etc. with a relatively large elastic modulus. The form of the elastic member 226 can be a spring, a coil spring, a leaf spring, a rubber pad, a rubber band, an elastic band, an elastic airbag, etc.

[0158] In some examples, the elastic member 226 is used to generate elastic deformation when the first plate body 210 moves towards the retractor 224, and drive the first plate body 210 to move away from the retractor 224 through the elastic restoring force. In other examples, the elastic member 226 is disposed between the first plate body 210 and the housing 100 with a preset elastic force. The elastic member 226 is used to increase the elastic force when the first plate body 210 moves towards the retractor 224, so as to drive the first plate body 210 to move away from the retractor 224 through the elastic restoring force. The preset elastic force can reduce the possibility of the elastic member 226 failing due to multiple deformations.

[0159] Exemplarily, the elastic member 226 is a spring. When the retractor 224 drives the first plate body 210 to move towards the retractor 224, the elastic member 226 is compressed to generate elastic deformation. When the retractor 224 releases the rope 225, the external force on the elastic member 226 becomes smaller, and the restoring force of the elastic member 226 drives the elastic member 226 to recover its original shape, thereby driving the first plate body 210 to move away from the retractor 224.

[0160] It should be noted that when the elastic member 226 is provided, the second chamber 112 may not be sealed, and only the elastic member 226 is used to drive the first plate body 210 to move; when the elastic member 226 is not provided, the second chamber 112 is provided as a sealed structure so that the fluid in the second chamber 112 is compressed to generate a driving force.

[0161] In the technical solution of the embodiment of the present application, the elastic member 226 disposed between the first plate body 210 and the housing 100 can drive the first plate body 210 to move away from the retractor 224 through the elastic restoring force. The elastic member 226 can act together with the fluid in the second chamber 112, which helps the first plate body 210 to quickly move to a position away from the retractor 224.

[0162] Refer to Figure 14 , in some embodiments of the present application, the elastic member 226 is disposed on the side of the first plate body 210 facing the retractor 224. The two ends of the elastic member 226 are respectively connected to the first plate body 210 and the first wall of the second chamber 112. The first wall is opposite to the first plate body 210; the elastic member 226 has a contact surface 2261 contacting the first plate body 210 and the first wall, and the contact surface 2261 is disposed around the central axis L of the first plate body 210.

[0163] In some examples, the elastic member 226 is fixedly connected to the first plate body 210, for example, by welding, bonding, snap connection, etc.; in other examples, the elastic member 226 abuts against the first plate body 210.

[0164] In the embodiments of the present application, the first wall of the second chamber 112 refers to the chamber wall of the second chamber 112 opposite to the first plate body 210. The connection between the elastic member 226 and the first wall can be welding, bonding, snap connection, abutting, etc.

[0165] In some examples, the contact surface 2261 is an annular surface, and the contact surface 2261 surrounds the central axis L of the first plate body 210; in other examples, the contact surface 2261 includes a plurality of contact zones, that is, the first plate body 210 and / or the first wall and the elastic member 226 have a plurality of contact positions, and different contact zones of the same contact surface 2261 are arranged at intervals, and the plurality of contact zones surround the central axis L of the first plate body 210.

[0166] In some examples, the outer peripheral side of the elastic member 226 is in contact with the second chamber 112, and the second chamber 112 serves as a guiding structure for the elastic member 226; in other examples, the outer peripheral side of the elastic member 226 is spaced from the inner wall of the second chamber 112, which helps to reduce the frictional resistance.

[0167] In the technical solution of the embodiments of the present application, since the two ends of the elastic member 226 are respectively connected to the first plate body 210 and the first wall of the second chamber 112, the arrangement direction of the elastic member 226 corresponds to its deformation direction, which can reduce the possibility of skewing due to force. The contact surface 2261 of the elastic member 226 surrounds the central axis L of the first plate body 210, so that the elastic member 226 can apply force uniformly to the first plate body 210 along the direction parallel to the central axis L, facilitating the smooth sliding of the first plate body 210 and reducing the possibility of skewing and jamming of the first plate body 210.

[0168] Referring to Figure 6 、 Figure 8 、 Figure 9 and Figure 10 , in some embodiments of the present application, the housing 100 includes a first cylinder 120 and a second cylinder 130 that are connected and communicate with each other. The first cylinder 120 is configured with an open end 121 for installing the deformation member 300; a support structure 122 is provided on one side of the first cylinder 120 opposite to the open end 121 and / or on the inner wall of the second cylinder 130, at least a part of the driving assembly 220 is fixedly connected to the support structure 122, and the driving assembly 220 is located in the second cylinder 130.

[0169] In some examples, a part of the internal space of the first cylinder 120 forms a first chamber 111. The deformation member 300 is connected to the open end 121 of the first cylinder 120. Both the deformation member 300 and the first plate body 210 are located in the internal space of the first cylinder 120, and the first plate body 210 slides in the internal space of the first cylinder 120. The other end of the first cylinder 120 opposite to the open end 121 is connected to the second cylinder 130. Another part of the internal space of the first cylinder 120 and the internal space of the second cylinder 130 form a second chamber 112. Part of the driving mechanism 200 is arranged in the internal space of the second cylinder 130. For example, the motor 221, the first gear 2221, the second gear 2222, the winder 224, the rope 225, the elastic member 226, etc. are arranged in the internal space of the second cylinder 130.

[0170] In some examples, the cross-sectional profile (the cross-section perpendicular to the moving direction of the first plate body 210) of the first cylinder 120 can be a regular or irregular figure such as a circle, a square, a triangle, a rhombus, a trapezoid, etc. The cross-sectional profile (the cross-section perpendicular to the moving direction of the first plate body 210) of the second cylinder 130 can also be a regular or irregular figure such as a circle, a square, a triangle, a rhombus, a trapezoid, etc. The cross-sectional profile of the first cylinder 120 and the cross-sectional profile of the second cylinder 130 can be the same or different. At the connection position of the first cylinder 120 and the second cylinder 130, they have the same cross-sectional profile. For example, the cross-sectional profiles of both the first cylinder 120 and the second cylinder 130 are circular.

[0171] In some examples, the support structure 122 is located on the other side of the first cylinder 120 relative to the open end 121. In other examples, the support structure 122 is located on the inner wall of the second cylinder 130. For example, the support structure 122 is arranged on the first wall. In still other examples, the inner wall of the second cylinder 130 and the other side of the first cylinder 120 relative to the open end 121 are both provided with the support structure 122.

[0172] Among them, the support structure 122 can be a rod-shaped structure, a plate-shaped structure, a mesh structure, etc. In some examples, the support structure 122 is a plate-shaped structure, and the support structure 122 constitutes the bottom structure of the first cylinder 120. It can be understood that through holes 1223 are formed on the support structure 122, and the through holes 1223 connect the internal space of the first cylinder 120 and the internal space of the second cylinder 130.

[0173] In some examples, the support structure 122 includes a bottom plate which forms the bottom structure of the first cylinder 120. On one side of the bottom plate far from the open end 121, a plurality of support columns 1221 are provided, and the base of the motor 221 is connected to the support columns 1221 to be fixed relative to the support structure 122. The first gear 2221 and the second gear 2222 are also rotatably connected to one side of the bottom plate far from the open end 121. The bottom plate is provided with a through hole, and the threaded rod 2223 passes through the through hole. The bottom plate is also provided with a guiding hole corresponding to the position of the sliding rod 2231, and the sliding rod 2231 is slidably connected in the corresponding guiding hole.

[0174] In some examples, on one side of the bottom plate far from the open end 121, a guiding column 1222 is further provided. The guiding column 1222 is provided with a through guiding hole, and the sliding rod 2231 passes through the guiding hole, thereby increasing the contact area between the sliding rod 2231 and the guiding hole and improving the guiding accuracy.

[0175] In the technical solution of the embodiment of the present application, the housing 100 is provided with a first cylinder 120 and a second cylinder 130. The open end 121 of the first cylinder 120 is installed with a deformation member 300. On one side of the first cylinder 120 relative to the open end 121 and / or on the inner wall of the second cylinder 130, a support structure 122 is provided. At least part of the driving assembly 220 is fixedly connected to the support structure 122, and the connection is relatively firm; the driving assembly 220 is located in the second cylinder 130. The deformation member 300 and the driving assembly 220 are located at opposite ends of the first cylinder 120 and are respectively located in the first cylinder 120 and the second cylinder 130. The distance between the two is relatively far and they are in different spaces, which helps to reduce the interference between the two and is also convenient for providing a relatively wide deformation space for the deformation member 300.

[0176] Refer to Figure 1 、 Figure 2 、 Figure 6 、 Figure 8 and Figure 11 In some embodiments of the present application, the first cylinder 120 and the second cylinder 130 are detachably connected. The buoyancy adjustment device further includes a first seal 500. The first seal 500 is disposed on the outer periphery of the first cylinder 120 and is in sealing contact with the inner wall of the second cylinder 130.

[0177] In some examples, the detachable connection between the first cylinder 120 and the second cylinder 130 is a snap connection, a threaded connection, a fastener connection, etc. For example, a second connection post 124 is provided on the outer peripheral side of the first cylinder 120, and a third connection ear 131 corresponding to the second connection post 124 is provided on the outer periphery of the second cylinder 130. A second connection hole 140 is provided on the third connection ear 131. A fastener passes through the second connection post 124 and the second connection hole 140 of the corresponding third connection ear 131 to lock and fix the two. In some examples, the fastener can also pass through the first connection ear 430, the second connection post 124, and the third connection ear 131 in sequence to integrally lock the structural member 400, the first cylinder 120, and the second cylinder 130.

[0178] In some examples, the first cylinder 120 and the second cylinder 130 adopt a butting form, that is, the end face of the first cylinder 120 abuts against the end face of the second cylinder 130 along the central axis L direction of the first cylinder 120; in other examples, the first cylinder 120 and the second cylinder 130 adopt a sleeving form, that is, a part of the second cylinder 130 extends into the internal space of the second cylinder 130, or a part of the first cylinder 120 extends into the internal space of the second cylinder 130. In still other examples, the first cylinder 120 and the second cylinder 130 are connected by a transition member. The transition member is sleeved on the first cylinder 120 and the second cylinder 130 respectively, and the first cylinder 120 and the second cylinder 130 may or may not be in contact.

[0179] In some examples, the first seal 500 may include a sealing ring, a sealing gasket, a sealing packing, etc. The first seal 500 may include one or more of materials such as rubber, plastic, and metal. For example, the first seal 500 is a sealing ring.

[0180] In some examples, the first cylinder 120 extends into the second cylinder 130, and a second limiting groove 123 is provided on the outer wall of the first cylinder 120 and / or the inner wall of the second cylinder 130. A part of the first seal 500 is located in the second limiting groove 123, and the second limiting groove 123 is used to limit the movement of the first seal 500 along the central axis L direction of the first cylinder 120.

[0181] In the technical solution of the embodiment of the present application, the detachable connection between the first cylinder 120 and the second cylinder 130 facilitates the disassembly and maintenance of the housing 100 and each component inside the housing 100, improving the maintenance convenience of the buoyancy adjustment device; the first seal 500 is arranged between the first cylinder 120 and the second cylinder 130 to seal the connection between the first cylinder 120 and the second cylinder 130, reducing the possibility of external fluid entering the second chamber 112, so as to provide a good and stable working environment for the motor 221 and the first plate 210; and the first seal 500 is in a sleeved relationship with respect to the first cylinder 120 and the second cylinder 130, increasing the structural complexity of the gap at the connection between the first cylinder 120 and the second cylinder 130, and also contributing to isolating external fluid.

[0182] In some embodiments of the present application, the second chamber 112 is configured as a closed chamber, or the second chamber 112 is connected to at least one third chamber, and the second chamber 112 and at least one third chamber together are configured as a closed chamber.

[0183] In the embodiment of the present application, a closed chamber refers to a structure forming the chamber that does not have an opening communicating with the outside, or a sealing structure is provided at the opening, and the sealing structure can isolate the chamber from the external environment. For example, the deformation member 300 and the first seal 500 are both used to isolate the second chamber 112 from the external environment. The second chamber 112 can be separately set as a closed chamber, or can be connected to other chambers to be jointly configured as a closed chamber.

[0184] In some examples, one end of the second cylinder 130 far from the opening end 121 is closed; in other examples, one end of the second cylinder 130 far from the opening end 121 is provided with a wire passing hole, and the power supply cable of electrical components such as the motor 221 passes through the wire passing hole, and a sealing structure is arranged between the cable and the second cylinder 130 for sealing the wire passing hole. The sealing structure can include sealant, sealing ring, sealing plug, sealing snap ring, etc.

[0185] In the embodiment of the present application, the connection between the second chamber 112 and the third chamber can be absolute connection or selective connection. Absolute connection means that there is a channel between the second chamber 112 and the third chamber, and the channel remains unobstructed; selective connection means that there is a channel between the second chamber 112 and the third chamber, and a valve etc. is arranged at the channel, and the valve can be adjusted according to requirements to connect or isolate the second chamber 112 and the third chamber.

[0186] In the embodiments of the present application, the second chamber 112 may communicate with one or more third chambers. The second chamber 112 may communicate with multiple third chambers through a single channel, or may communicate with the corresponding third chambers through multiple channels respectively. The channels for the second chamber 112 to communicate with the third chambers may be provided on the circumferential side of the second chamber 112, or may be provided at the end of the second chamber 112. For example, the channels for the second chamber 112 to communicate with the third chambers are provided at the end of the second chamber 112 opposite to the first chamber 111.

[0187] In the embodiments of the present application, the pool robot has a third chamber. The third chamber may be a structure of the buoyancy adjustment device, that is, the housing 100 forms the third chamber. Or, the third chamber is a structure provided for other parts of the pool robot. For example, the third chamber is provided in the fuselage 700 of the pool robot. When the buoyancy adjustment device is connected to the fuselage 700, the second chamber 112 communicates with the third chamber.

[0188] In the technical solution of the embodiments of the present application, the second chamber 112 is a closed chamber, which reduces the possibility of external fluid entering from other positions of the second chamber 112, and is convenient for providing a good and stable working environment for the motor 221 and the first plate 210 in the second chamber 112. The second chamber 112 may also communicate with the third chamber, and the two jointly form a closed chamber, which is not only convenient for sealing the space where the motor 221 and the first plate 210 are located, but also the second chamber 112 and the third chamber can realize the internal fluid exchange, which is convenient for the volume change of the second chamber 112 caused by the sliding of the first plate 210 relative to the housing 100.

[0189] Refer to Figure 12 In some embodiments of the present application, the sliding seal structure between the sliding connection portion 211 and the inner wall of the housing 100 includes one or a combination of an O-ring, a lip seal, a piston seal ring, and a sealing packing. Exemplarily, a second seal 600 is provided between the sliding connection portion 211 and the inner wall of the housing 100, and the second seal 600 is an O-ring made of rubber material.

[0190] In some examples, a first limiting groove 214 is provided on the sliding wall of the sliding connection portion 211 and / or the inner wall of the housing 100, and a part of the second seal 600 is located in the first limiting groove 214. The first limiting groove 214 is used to limit the movement of the second seal 600 along the central axis L direction of the housing 100.

[0191] In some examples, the first plate body 210 includes a plate main body 212 and a sliding connection portion 211 disposed around the plate main body 212. On a side of the sliding connection portion 211 facing the inner wall of the housing 100, a first limiting groove 214 is provided. A part of the second seal 600 is located in the first limiting groove 214. The inner side of the second seal 600 abuts against the bottom wall of the first limiting groove 214, and the outer side of the second seal 600 abuts against the inner wall of the housing 100.

[0192] It can be understood that the sliding connection portion 211 can be a part of the plate main body 212 or a separate component, and is fixedly connected to the plate main body 212.

[0193] In some examples, the first plate body 210 further includes a strengthening structure 213. The strengthening structure 213 includes reinforcing ribs, reinforcing plates, reinforcing rings, etc. provided on the plate main body 212. The extending direction of the strengthening structure 213 forms an angle with the extending direction of the plate main body 212. Exemplarily, a plurality of reinforcing rings are provided on a side of the plate main body 212 facing away from the deformation member 300. The plurality of reinforcing rings have different sizes and are nested around the central axis L of the plate main body 212. A plurality of reinforcing plates are also provided on a side of the plate main body 212 facing away from the deformation member 300. The plurality of reinforcing plates extend along different radial directions of the plate main body 212 and are uniformly arranged along the central axis L of the plate main body 212. The reinforcing plates intersect with the reinforcing rings.

[0194] In some examples, the first plate body 210 further includes a first connecting column 215. The first connecting column 215 is connected to a side of the plate main body 212 facing away from the deformation member 300. The first connecting column 215 is correspondingly arranged with a first connecting hole 240 on the first plate body 210, and at least part of the first connecting hole 240 is opened in the corresponding first connecting column 215.

[0195] Refer to Figure 15 , the pool robot provided by the embodiment of the present application includes a fuselage 700 and the buoyancy adjustment device of the embodiment of the present application. The fuselage 700 is provided with a cleaning device, and the buoyancy adjustment device is connected to the fuselage 700 to enable the pool robot to float or sink in water.

[0196] In some examples, the fuselage 700 includes a housing. The buoyancy adjustment device is connected to the housing, and the opening of the first space 1111 communicates with the outside of the fuselage 700. The fuselage 700 realizes sinking and floating in the pool through the buoyancy adjustment device. Relative to the direction of sinking or floating of the fuselage 700, the buoyancy adjustment device can be connected to the upper side of the fuselage 700 or the lower side of the fuselage 700. Relative to the horizontal movement direction of the fuselage 700, the buoyancy adjustment device can be connected to the front side, rear side, left side or right side of the fuselage 700. The present application does not limit the connection position of the buoyancy adjustment device relative to the fuselage 700.

[0197] In some examples, the pool robot includes one or more buoyancy adjustment devices, and the multiple buoyancy adjustment devices can be symmetrically distributed with respect to the housing. For example, the multiple buoyancy adjustment devices are symmetrically distributed along the central axis in the front-rear direction of the housing 100.

[0198] In the embodiments of the present application, the shape of the fuselage 700 of the pool robot can be any suitable shape. For example, circular, square, or an aesthetically pleasing industrial design shape, etc. In some embodiments, a part of the fuselage 700 has a circular shape and another part has a square shape. The material of the fuselage 700 can be any suitable material, such as metal, plastic, etc. In implementation, the embodiments of the present application do not limit the shape, material, etc. of the fuselage 700.

[0199] The cleaning device can be any suitable component capable of achieving cleaning. For example, a cleaning roller, a cleaning brush, a cleaning tray, etc. The shape of the cleaning device can be any suitable shape. In implementation, the embodiments of the present application do not limit the shape, material, etc. of the working component.

[0200] The number of cleaning devices can be at least one. In some embodiments, the cleaning device includes a cleaning device located in front of the fuselage 700 and / or a cleaning device located behind the fuselage 700. The multiple cleaning devices can be the same or different. For example, all of the multiple cleaning devices include cleaning rollers, or some of the cleaning devices include cleaning rollers and some of the other cleaning devices include cleaning brushes.

[0201] In some embodiments, the pool robot further includes sensors for detecting the attitude of the pool robot (such as tilt angle, rotation angle, etc.), motion information (such as acceleration, speed), environmental information (such as depth, distance from the water surface, obstacles, etc.), cleaning information (water quality monitoring, debris detection, etc.), etc. The pool robot performs moving and cleaning operations based on the data detected by each sensor.

[0202] In some embodiments, the pool robot further includes a controller for executing any one of the control methods of the pool robot provided by the present application. Among them, the controller can be any suitable component capable of implementing the control function. For example, an MCU (Microcontroller Unit), a CPU (Central Processing Unit), a DSP (Digital Signal Processor), a single-chip microcomputer, etc.

[0203] In some embodiments, the pool robot further includes a power system, which may include the buoyancy adjustment device of the embodiments of the present application. The buoyancy adjustment device is used to implement actions such as the sinking and floating of the pool robot. The power system may further include a propeller, through which the pool robot is used to implement actions such as moving forward, backward, and turning.

[0204] In some embodiments, the propeller includes a left propeller and a right propeller. During implementation, by controlling the simultaneous forward and reverse rotation of the left propeller and the right propeller, the pool robot is made to perform forward or backward actions; by controlling the rotation speed of the left propeller to be different from that of the right propeller, the pool robot is made to perform left or right turning actions.

[0205] In some embodiments, the power system may further include a crawler, through which the pool robot can move stably on the bottom of the pool (such as tile joints, slopes, steps, etc.), avoiding problems such as jamming or slipping caused by uneven bottom of the pool. It is suitable for handling curved pool walls and corner areas. At the same time, compared with wheels, the crawler disperses the weight of the fuselage 700 by increasing the contact area, reduces the frictional damage to the pool bottom coating, and enhances the grip on the smooth tile surface. During implementation, the crawler is used to implement actions such as the pool robot moving forward, backward, and turning.

[0206] In some embodiments, the crawler may include a left crawler and a right crawler. During implementation, by controlling the simultaneous forward and reverse rotation of the left crawler and the right crawler, the pool robot is made to perform forward or backward actions; by controlling the rotation speed of the left crawler to be different from that of the right crawler, the pool robot is made to perform left or right turning actions.

[0207] In the technical solution of the embodiments of the present application, the pool robot includes a buoyancy adjustment device. The buoyancy adjustment device is provided with a deformable member 300. The first space 1111 isolated by the deformable member 300 is used to accommodate an external fluid. The sliding connection portion 211 of the first plate body 210 is fluid-isolated from the first space 1111 by the deformable member 300. The influence of the external fluid on the sliding connection portion 211 is small, which can not only improve the service life of the sliding connection portion 211, but also improve the state switching efficiency of the buoyancy adjustment device.

[0208] In a possible implementation, the pool robot includes at least one buoyancy adjustment device. The buoyancy adjustment device includes a housing 100. The housing 100 includes a first cylinder 120 and a second cylinder 130. One end of the first cylinder 120 is provided with an open end 121, and the other end is provided with a support structure 122. The end of the first cylinder 120 provided with the support structure 122 is inserted into the second cylinder 130. A first seal 500 is provided between the first cylinder 120 and the second cylinder 130. The first seal 500 is an O-ring. The support structure 122 is provided with a communication hole 1223, and the communication hole 1223 communicates the internal spaces of the second cylinder 130 and the first cylinder 120.

[0209] The buoyancy adjustment device further includes a driving mechanism 200. The driving mechanism 200 includes a motor 221. The motor 221 is fixedly connected to the side of the support structure 122 away from the open end 121 through a support column 1221. A first gear 2221 and a second gear 2222 are rotatably connected to the side of the support structure 122 away from the open end 121. The second gear 2222 is fixedly connected to the output shaft of the motor 221. The second gear 2222 meshes with the first gear 2221. The radius of the first gear 2221 is greater than the radius of the second gear 2222. A threaded rod 2223 passes through the middle of the first gear 2221. The threaded rod 2223 is threadedly connected to the first gear 2221. The threaded rod 2223 passes through the support structure 122 and extends towards the open end 121. One end of the threaded rod 2223 close to the open end 121 is fixedly connected to a first plate body 210. Two guide posts 1222 are further provided on the side of the support structure 122 away from the open end 121. The two guide posts 1222 are symmetrically arranged about the central axis L of the first cylinder 120. Each guide post 1222 is provided with a guide hole parallel to the threaded rod 2223. A sliding rod 2231 is slidably connected in the guide hole. The sliding rod 2231 extends towards the first plate body 210, and the sliding rod 2231 is fixedly connected to the first plate body 210.

[0210] The first plate body 210 is located inside the first cylinder 120. The first plate body 210 includes a plate body 212 with a circular plate-like structure, and a sliding connection part 211 integrally formed and surrounding the plate body 212. A first limiting groove 214 is provided on the side of the sliding connection part 211 facing the inner wall of the first cylinder 120. A second seal 600 is provided in the first limiting groove 214. The second seal 600 abuts against the outer wall of the sliding connection part 211 and the inner wall of the first cylinder 120 respectively, so that the first plate body 210 can slide relative to the first cylinder 120 in a sealed manner along the axis direction of the threaded rod 2223.

[0211] The first plate body 210 seals and divides the internal space of the first cylinder body 120 into two parts. The part of the internal space of the first cylinder body 120 corresponding to the open end 121 is the first chamber 111. The other part of the internal space of the first cylinder body 120 and the internal space of the second cylinder body 130 form the second chamber 112. The open end 121 is connected with a deformable member 300. The deformable member 300 seals and isolates the first chamber 111 into a first space 1111 and a second space 1112. The first space 1111 communicates with the external fluid (such as the water body in the swimming pool). The sliding connection part 211 of the first plate body 210 is not in contact with the external fluid.

[0212] The deformable member 300 includes a telescopic section 330. The telescopic section 330 can be a corrugated pipe structure and can telescopically deform along the sliding direction of the first plate body 210. The second end 320 of the telescopic section 330 close to the second cylinder body 130 is connected to the first plate body 210. A second plate body 230 is further arranged in the internal space of the telescopic section 330. The first plate body 210 and the second plate body 230 are locked by fasteners, and the second end 320 of the deformable member 300 is clamped and fixed.

[0213] The buoyancy adjustment device further includes a structural member 400. The structural member 400 includes an integrally formed extension part 420 and a connecting part 410. The connecting part 410 is sleeved on the outer peripheral side of the open end 121. The extension part 420 extends from the connecting part 410 towards the central axis L of the opening part. One end of the deformable member 300 connected to the open end 121 includes a flanging structure 340. The flanging structure 340 includes a first section 341 and a second section 342. The first section 341 is sleeved between the connecting part 410 and the open end 121. A sealing convex ring 343 is arranged on the outer peripheral side of the first section 341. The sealing convex ring 343 abuts against the inner wall of the connecting part 410. Two sealing convex rings 343 are arranged on the inner periphery of the first section 341. The two sealing convex rings 343 abut against the outer wall of the first cylinder body 120. The second section 342 is connected between the first section 341 and the telescopic section 330. The second section 342 respectively abuts against the extension part 420 and the end face of the first cylinder body 120 along the central axis L direction of the open end 121. First connecting ears 430 and third connecting ears 131 are respectively arranged on the outer peripheral sides of the structural member 400 and the second cylinder body 130. A second connecting column 124 is arranged on the outer peripheral side of the first cylinder body 120. Fasteners such as bolts and studs pass through the corresponding first connecting ears 430, second connecting columns 124 and second connecting rods to fix the structural member 400, the first cylinder body 120 and the second cylinder body 130.

[0214] When it is necessary to inhale external fluid to sink, the motor 221 drives the second gear 2222 to rotate in the first rotation direction. The second gear 2222 drives the first gear 2221 to rotate. Since the first gear 2221 is fixed relative to the housing 100 in the direction of the central axis L of the housing 100, the rotation of the first gear 2221 drives the threaded rod 2223 to move in the direction of the central axis L of the housing 100. The threaded rod 2223 drives the first plate body 210 to move away from the opening of the housing 100. The volume of the second chamber 112 decreases, the volume of the first chamber 111 increases, and the volume of the second space 1112 changes accordingly. Under the positive pressure of the external fluid, the deformable member 300 deforms towards the first plate body 210, and the volume of the first space 1111 increases accordingly. More external fluid enters the first space 1111, the overall drainage volume of the buoyancy adjustment device decreases, and the buoyancy received decreases, so as to realize the sinking of the pool robot.

[0215] When it is necessary to discharge external fluid to float, the motor 221 drives the second gear 2222 to rotate in the second rotation direction. The second rotation direction is set opposite to the first rotation direction. The second gear 2222 drives the first gear 2221 to rotate. The rotation of the first gear 2221 drives the threaded rod 2223 to move in the direction of the central axis L of the housing 100. The threaded rod 2223 drives the first plate body 210 to move towards the opening of the housing 100. The volume of the second chamber 112 increases, the volume of the first chamber 111 decreases, and the volume of the second space 1112 changes accordingly. And the first plate body 210 pushes the deformable member 300 towards the opening of the accommodating chamber 110. The volume of the first space 1111 decreases, discharging the external fluid from the buoyancy adjustment device. The overall drainage volume of the buoyancy adjustment device increases, and the buoyancy received increases, so as to realize the floating of the pool robot.

[0216] The serial numbers of the embodiments of the present application above are only for description and do not represent the advantages or disadvantages of the embodiments. The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A buoyancy adjustment device, applied to a pool robot, characterized in that The buoyancy control device includes: A housing is formed with a receiving cavity; A driving mechanism, comprising a first plate body slidably connected to the inner wall of the shell and a driving assembly for sliding the first plate body, wherein the first plate body comprises a sliding connection portion abutting against the inner wall of the shell, and the first plate body seals and isolates the accommodating cavity to form a first chamber and a second chamber; a deformable member, which seals and isolates the first chamber from a first space and a second space, wherein the first space communicates with an external environment, and the deformable member isolates the sliding connection portion from the first space; The sliding of the first plate is used to adjust the volume of the first chamber and the second chamber to change the amount of fluid entering the first space through the external environment.

2. The buoyancy adjustment device according to claim 1, wherein The deformable member has a first end fixed to the housing.

3. The buoyancy adjustment device according to claim 2, characterized in that The deformable member has a second end fixed to the first plate body.

4. The buoyancy adjustment device according to claim 2, wherein It also includes a structural member, which is detachably connected to the shell, and the first end is clamped between the structural member and the shell.

5. The buoyancy adjustment device according to claim 4, characterized in that, The structural member includes a connecting portion and an extending portion, wherein the connecting portion is connected to the shell and sleeved on the outer edge of the opening of the shell, and the extending portion extends from the connecting portion toward the center of the opening of the shell; Projected along the axial direction of the shell, the extension portion at least covers the connection portion between the deformable member and the shell.

6. The buoyancy adjustment device according to claim 5, characterized in that, The first end is provided with a flanging structure, which includes a first section and a second section connected to each other, the first section is located between the shell and the connecting portion, the second section is located between the shell and the extending portion, and the extending portion, the second section and the outer edge of the opening of the shell are abutted in sequence along the axial direction of the shell.

7. The buoyancy adjustment device according to claim 6, characterized in that, The flange structure also includes a sealing convex ring, which is arranged on the outer periphery and / or inner periphery of the first section. The sealing convex ring located on the outer periphery of the first section abuts against the inner wall of the connecting portion, and the sealing convex ring located on the inner periphery of the first section abuts against the outer wall of the shell.

8. The buoyancy adjustment device according to any one of claims 1 to 7, characterized in that, The drive assembly comprises: a motor fixed to the accommodating cavity; A transmission assembly, connected between the output end of the motor and the first plate, and used to drive the first plate to move along the axis direction of the housing; The guide assembly extends along the axial direction of the shell and is slidably connected to the shell. The guide assembly is connected to the first plate body.

9. The buoyancy adjustment device according to any one of claims 1 to 7, characterized in that, The driving assembly includes a retractor and a rope, two ends of the rope are respectively connected to the first plate and the retractor, and the retractor is located on a side of the first plate away from the deformable member; The retractor reels in the rope by rotating, so as to drive the first plate to move toward the retractor through the rope and compress the fluid in the second chamber; or, the retractor releases the rope by rotating, and the first plate moves away from the retractor under the action of the fluid pressure in the second chamber.

10. The buoyancy adjustment device according to claim 9, characterized in that, It also includes an elastic member, which is arranged between the first plate and the shell; The elastic member can cause the first plate to tend to move away from the retractor.

11. The buoyancy adjustment device according to claim 10, wherein, The elastic member is disposed on a side of the first plate body facing the retractor. Two ends of the elastic member are respectively connected to the first plate body and a first wall of the second chamber, and the first wall is opposite to the first plate body. The elastic member has a contact surface contacting the first plate body and the first wall, and the contact surface is disposed around a central axis of the first plate body.

12. The buoyancy adjustment device according to any one of claims 1 to 7, characterized in that, The housing includes a first cylinder body and a second cylinder body that are communicated with each other. The first cylinder body is configured with an open end for installing the deformation member. A support structure is disposed on a side of the first cylinder body opposite to the open end and / or on an inner wall of the second cylinder body. At least a part of the driving assembly is fixedly connected to the support structure, and the driving assembly is located in the second cylinder body.

13. The buoyancy adjustment device according to claim 12, wherein, The first cylinder body and the second cylinder body are detachably connected. The buoyancy adjustment device further includes a first seal, and the first seal is disposed on an outer periphery of the first cylinder body and is in sealing abutment with an inner wall of the second cylinder body.

14. The buoyancy adjustment device according to any one of claims 1 to 7, characterized in that, The second chamber is configured as a closed chamber, or the second chamber is communicated with at least one third chamber, and the second chamber and the at least one third chamber together are configured as a closed chamber.

15. A pool robot, characterized in that, including: a fuselage provided with a cleaning device; the buoyancy adjustment device according to any one of claims 1 to 14, the buoyancy adjustment device being connected to the fuselage to enable the pool robot to float or sink in water.

Images